JP2011526479A - Method for determining inductance of permanent magnet synchronous machine - Google Patents

Method for determining inductance of permanent magnet synchronous machine Download PDF

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JP2011526479A
JP2011526479A JP2011515346A JP2011515346A JP2011526479A JP 2011526479 A JP2011526479 A JP 2011526479A JP 2011515346 A JP2011515346 A JP 2011515346A JP 2011515346 A JP2011515346 A JP 2011515346A JP 2011526479 A JP2011526479 A JP 2011526479A
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ドゥロ、バシ
ステファン、カピタネニュ
フランソワ、マルレ
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Schneider Toshiba Inverter Europe SAS
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/186—Circuit arrangements for detecting position without separate position detecting elements using difference of inductance or reluctance between the phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/01—Motor rotor position determination based on the detected or calculated phase inductance, e.g. for a Switched Reluctance Motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

本発明は、各々１つの方向に向けられた３つの相（ａ、ｂ、ｃ）、固定子、及び回転子を含む永久磁石同期機のインダクタンス（Ｌｄ、Ｌｑ）を決定するための、可変速駆動装置において実行される制御方法に関する。各相において、次々に、上記方法は、所定の期間にわたり、正方向の電圧ベクトル（Ｖ１、Ｖ３、Ｖ５）及び負方向の電圧ベクトル（Ｖ２、Ｖ４、Ｖ６）を、各相（ａ、ｂ、ｃ）の方向に印加するステップと、両方向の電圧ベクトルを印加した後に相内で得られた電流を測定するステップと、測定された電流に基づいて、固定子に対する回転子の位置に関する角度（θ）を決定するステップと、所定の角度（θ）に基づいて、機械のフロー（Ｌｄ）及びトルク（Ｌｑ）インダクタンスを決定するステップと、を含む。  The present invention provides a variable speed for determining the inductance (Ld, Lq) of a permanent magnet synchronous machine including three phases (a, b, c), stator and rotor each oriented in one direction. The present invention relates to a control method executed in a drive device. In each phase, one after another, the method applies a positive voltage vector (V1, V3, V5) and a negative voltage vector (V2, V4, V6) to each phase (a, b, V6) over a predetermined period. c) applying the direction of c), measuring the current obtained in the phase after applying the voltage vector in both directions, and the angle (θ relative to the position of the rotor relative to the stator based on the measured current ) And determining a machine flow (Ld) and torque (Lq) inductance based on a predetermined angle (θ).

Description

本発明は、ＰＭＳＭとも称される、永久磁石同期機のインダクタンスを決定する方法に関する。本発明はまた、前記方法を実行することができる可変速駆動装置にも関する。   The present invention relates to a method for determining the inductance of a permanent magnet synchronous machine, also referred to as PMSM. The invention also relates to a variable speed drive capable of carrying out the method.

周知のように、可変速駆動装置は、外部ＡＣ電源ネットワークからＤＣ電源を供給する整流器モジュール、及びインバータモジュール（又はチョッパー）を含む。このインバータモジュールは、出力において、電源ケーブルを通じて、パルス可変電圧及び可変回転数を機械に供給するように、パルス幅変調（ＰＷＭ）モードでＤＣ電圧をチョッピングするための電力半導体電子部品を含む。可変速駆動装置向けの制御装置は、適切な可変電圧でＰＷＭモードにおいて機械を制御するために、サンプリング周波数で半導体部品の伝導及び遮断を制御する。   As is well known, the variable speed drive includes a rectifier module that supplies DC power from an external AC power network and an inverter module (or chopper). The inverter module includes power semiconductor electronics for chopping a DC voltage in a pulse width modulation (PWM) mode to provide a pulse variable voltage and variable speed to the machine at the output through a power cable. A control device for a variable speed drive controls the conduction and blocking of semiconductor components at the sampling frequency in order to control the machine in PWM mode with an appropriate variable voltage.

永久磁石同期機は、その作りやすさ及びその高効率のため、可変速駆動システムにおいてますます多く使用されている。これらの機械は２つの大きなカテゴリー：平滑又は円筒形回転子（smooth or cylindrical rotor）を備える機械、及び突起回転子（projecting rotor）を備える機械、に分類される。これら２種類の機械にとって、確実で一貫した制御ループ及び基準モデルを得るために、ｄ軸上の磁束（flux）インダクタンス、及びｑ軸上のトルクインダクタンスを知ることは、重要である。   Permanent magnet synchronous machines are increasingly used in variable speed drive systems because of their ease of manufacture and their high efficiency. These machines fall into two broad categories: machines with smooth or cylindrical rotors and machines with projecting rotors. For these two types of machines, it is important to know the flux inductance on the d-axis and the torque inductance on the q-axis in order to obtain a reliable and consistent control loop and reference model.

米国特許第６，４９８，４５２号及び第７，０６７，９９７号明細書は、同期機の回転子の初期位置を決定する方法を開示している。これらの方法は、とりわけ相の方向のインダクタンスの測定に依存している。   US Pat. Nos. 6,498,452 and 7,067,997 disclose methods for determining the initial position of the rotor of a synchronous machine. These methods rely inter alia on measuring the inductance in the direction of the phase.

Ｐｒ．Ｍ．Ｓｈｒｏｅｄｌによる著作物にも、注目すべきである（たとえば、”Ｓｅｎｓｏｒｌｅｓｓ Ｃｏｎｔｒｏｌ ｏｆ ＡＣ Ｍａｃｈｉｎｅｓ ａｔ Ｌｏｗ Ｓｐｅｅｄ ａｎｄ Ｓｔａｎｄｓｔｉｌｌ Ｂａｓｅｄ ｏｎ ｔｈｅ ”ＩＮＦＯＲＭ” Ｍｅｔｈｏｄ”， ３１ｓｔ Ｃｏｎｆｅｒｅｎｃｅ Ｒｅｃｏｒｄ ｏｆ ＩＥＥＥ Ｉｎｄｕｓｔｒｙ Ａｐｐｌｉｃａｔｉｏｎｓ Ｃｏｎｆｅｒｅｎｃｅ， ＩＡＳ １９９６， ｖｏｌ．１， ｐｐ．２７０〜２７７，６−１０ Ｏｃｔ．１９９６）。   Pr. M.M. Also noteworthy is the work by Shroedl (for example, “Sensorless Control of AC Machines at Low Speed and Standard Cir ed in 19th Conference Ahead”. , Pp. 270-277, 6-10 Oct. 1996).

本発明の目的は、永久磁石同期機の磁束及びトルクインダクタンスを決定できるようにする方法を提案することである。   The object of the present invention is to propose a method which makes it possible to determine the magnetic flux and torque inductance of a permanent magnet synchronous machine.

この目的は、各々１つの方向に向けられた、３つの相（ａ、ｂ、ｃ）、固定子、及び回転子を含む永久磁石同期機の磁束及びトルクインダクタンス（Ｌｄ、Ｌｑ）を決定するための、可変速駆動装置において実行される制御方法によって達成され、本方法は：
−所定の期間にわたり、正方向の電圧ベクトル及び負方向の電圧ベクトルを、各相の方向に印加するステップと、
−２つの方向の電圧ベクトルを印加した後に各相における電流応答を測定するステップであって、電流応答は、各相において、正のピーク及び負のピークを含む、ステップと、
−全ての相において測定された電流応答の正のピークと負のピークとの間の非対称性に基づいて、固定子に対する回転子の位置に関する角度を決定するステップと、
決定された角度の関数として、機械の磁束及びトルクインダクタンスを決定するステップと、を含む。 The purpose is to determine the magnetic flux and torque inductance (Ld, Lq) of a permanent magnet synchronous machine including three phases (a, b, c), a stator, and a rotor, each oriented in one direction. Which is achieved by a control method implemented in a variable speed drive, the method comprising:
Applying a positive voltage vector and a negative voltage vector in the direction of each phase over a predetermined period of time;
Measuring a current response in each phase after applying a voltage vector in two directions, the current response including a positive peak and a negative peak in each phase;
Determining an angle with respect to the position of the rotor relative to the stator based on the asymmetry between the positive and negative peaks of the current response measured in all phases;
Determining the magnetic flux and torque inductance of the machine as a function of the determined angle.

本発明の方法は、採用される回転子（平滑又は突起）にかかわらず、及び突起のタイプ（Ｌｄ＞Ｌｑ又はＬｄ＝Ｌｑ又はＬｄ＜Ｌｑ）にかかわらず、適用可能である。   The method of the present invention is applicable regardless of the rotor (smooth or protrusion) employed and regardless of the protrusion type (Ld> Lq or Ld = Lq or Ld <Lq).

具体的な一特徴によれば、各相において、正方向に印加された電圧ベクトル及び負方向に印加された電圧ベクトルは、同一のノルムを有する。   According to one specific feature, in each phase, the voltage vector applied in the positive direction and the voltage vector applied in the negative direction have the same norm.

別の具体的な特徴によれば、一相において、正方向の電圧ベクトル及び負方向の電圧ベクトルの印加は、所定のパルス幅の正電圧パルス、続いて所定のパルス幅の２倍の負電圧パルス、続いて所定のパルス幅の正電圧パルスを含む、電圧シーケンスの印加を伴う。   According to another specific feature, in one phase, the application of the positive voltage vector and the negative voltage vector is a positive voltage pulse of a predetermined pulse width, followed by a negative voltage twice the predetermined pulse width. With the application of a voltage sequence comprising a pulse followed by a positive voltage pulse of a predetermined pulse width.

別の具体的な特徴によれば、相における電流応答は正の電流ピーク及び負の電流ピークを含み、この方法は、各相で同時に、上方の位相において正の電流ピーク上の２つの明らかな電流値を、及び下方の位相において負の電流ピーク上の２つの明らかな電流値を、回復することにある。   According to another specific feature, the current response in the phase includes a positive current peak and a negative current peak, and this method is similar to each of the two apparent phases on the positive current peak in the upper phase, simultaneously in each phase. It is to recover the current value and two obvious current values on the negative current peak in the lower phase.

より具体的には、本方法は、以下の値を決定することにある。

Figure 2011526479
More specifically, the method consists in determining the following values:
Figure 2011526479

すると角度は、以下の関係に基づいて決定される。

Figure 2011526479
Then, the angle is determined based on the following relationship.
Figure 2011526479

機械の磁束及びトルクインダクタンスは、以下の関係に基づいて決定される。

Figure 2011526479
The magnetic flux and torque inductance of the machine are determined based on the following relationship.
Figure 2011526479

本発明はまた、永久磁石三相同期機にパルス電圧を供給するためのＰＷＭタイプのインバータを含む可変速駆動装置にも関し、上記可変駆動装置は上述の方法を実行する。   The invention also relates to a variable speed drive comprising a PWM type inverter for supplying a pulse voltage to a permanent magnet three-phase synchronous machine, said variable drive carrying out the method described above.

その他の特徴及び利点は、例示によって与えられ、以下の添付図面に描写される、実施形態を参照した、以下の詳細な説明より明らかになるであろう。
三相永久磁石同期電気機械に給電するＰＷＭタイプのインバータの簡略化した図である。 図２Ａ及び２Ｂは、それぞれ相ａにおける電圧ベクトルＶ１及び同じ相ａにおける電圧ベクトルＶ４を取得するための、インバータモジュールのスイッチの開／閉の組合せを示す図である。 機械の各相の方向に印加された電圧のベクトル図である。 相ａに印加された電圧シーケンス、及び相ａで取得された電流応答を示す図である。 図３に示される電圧ベクトルの各相への印加後に各相で取得された電流応答のベクトル図である。 Other features and advantages will become apparent from the following detailed description, with reference to the embodiments, given by way of example and depicted in the accompanying drawings in which:
It is the simplified figure of the PWM type inverter which supplies electric power to a three-phase permanent magnet synchronous electric machine. 2A and 2B are diagrams showing combinations of open / closed switches of the inverter module for obtaining the voltage vector V1 in phase a and the voltage vector V4 in the same phase a, respectively. FIG. 4 is a vector diagram of voltages applied in the direction of each phase of the machine. FIG. 6 is a diagram illustrating a voltage sequence applied to phase a and a current response acquired in phase a. FIG. 4 is a vector diagram of current responses obtained in each phase after application of the voltage vector shown in FIG. 3 to each phase.

図１の簡素化された回路図を参照すると、三相永久磁石同期機Ｍを制御するように意図された可変速駆動装置は、主にダイオードブリッジからなり、ＤＣ電源バスにＤＣ電圧を供給する、整流器モジュール（図示せず）を含む。ＤＣバスは正配線２０及び負配線２１を含み、バスコンデンサ（図示せず）はＤＣバスの正配線２０と負配線２１との間に接続されている。ＤＣバスは、互いに１２０°ずれた３方向に向けられた機械の３つの相（phase）ａ、ｂ、ｃに電力を供給する電力ケーブル３によって機械Ｍに接続されたインバータモジュール１に、電力を供給する。機械Ｍの各相ａ、ｂ、ｃのため、インバータモジュール１はＩＧＢＴ又はその他のタイプの２つの電力半導体電子スイッチ１１，１２（図面を簡略化するために単純なスイッチとして図１に示す）を含み、バスのＤＣ電圧Ｖｄｃから機械への可変電圧を生成することを可能にする。可変速駆動装置は、その様々な機能を実現するための、制御、処理、及び記憶手段も含む。   Referring to the simplified circuit diagram of FIG. 1, the variable speed drive intended to control the three-phase permanent magnet synchronous machine M consists mainly of a diode bridge and supplies a DC voltage to the DC power bus. A rectifier module (not shown). The DC bus includes a positive wiring 20 and a negative wiring 21, and a bus capacitor (not shown) is connected between the positive wiring 20 and the negative wiring 21 of the DC bus. The DC bus provides power to the inverter module 1 connected to the machine M by means of a power cable 3 that supplies power to the three phases a, b, c of the machine, which are oriented in three directions 120 ° apart from each other. Supply. For each phase a, b, c of the machine M, the inverter module 1 has two power semiconductor electronic switches 11, 12 (shown in FIG. 1 as simple switches to simplify the drawing) of IGBT or other type. Including, allowing a variable voltage from the bus DC voltage Vdc to the machine to be generated. The variable speed drive device also includes control, processing, and storage means for realizing its various functions.

本発明の方法は、平滑回転子又は突起回転子を備える永久磁石同期機に適用可能である。   The method of the present invention is applicable to a permanent magnet synchronous machine having a smooth rotor or a protrusion rotor.

本発明の原理は、各相において、交互に、相の各方向に、正方向の電圧ベクトル及び負方向の電圧ベクトルを印加することである。従って、２つの電圧ベクトルは、各相ａ、ｂ、ｃに印加される。「電圧ベクトル」という用語は、その合力が３つの相に印加される様々な電圧から算出されるベクトルを意味すると理解されるべきである。図２Ａ及び２Ｂは、相ａの方向の正の電圧ベクトルＶ１及びこの同じ方向の負の電圧ベクトルＶ４をそれぞれ取得することを可能にする、各相のスイッチの作動の組合せを示す。各相に関して、好ましくは、回転子の運動を発生させないために、印加される正の電圧ベクトル及び負の電圧ベクトルは同じノルム（norm）である。印加される各電圧ベクトルＶｉのノルムはＤＣバスの電圧Ｖｄｃに依存し、たとえば電圧Ｖｄｃの２／３の値を有する。
Ｖｉ＝２／３ Ｖｄｃ The principle of the present invention is to apply a positive voltage vector and a negative voltage vector in each direction alternately in each phase. Thus, two voltage vectors are applied to each phase a, b, c. The term “voltage vector” should be understood to mean a vector whose resultant force is calculated from various voltages applied to the three phases. 2A and 2B show a combination of switch actuations for each phase that makes it possible to obtain a positive voltage vector V1 in the direction of phase a and a negative voltage vector V4 in this same direction, respectively. For each phase, the applied positive voltage vector and negative voltage vector are preferably the same norm so as not to cause rotor movement. The norm of each applied voltage vector Vi depends on the voltage Vdc of the DC bus and has a value of 2/3 of the voltage Vdc, for example.
Vi = 2/3 Vdc

図３を参照すると、従って、電圧ベクトルＶ１、Ｖ２、Ｖ３、Ｖ４、Ｖ５、及びＶ６は、正及び負方向の相ａ、ｂ、ｃの方向に印加される。   Referring to FIG. 3, voltage vectors V1, V2, V3, V4, V5, and V6 are thus applied in the direction of positive and negative phases a, b, c.

ある相（相ａ）について、その相の方向の正の電圧ベクトル及び負の電圧ベクトルを取得可能にする電圧シーケンスが、図４に示されている。この電圧シーケンスは、インバータモジュール１によって観察対象の相と他の２つの相との間に電圧を印加することにあり、且つ、所定のパルス幅Ｔｐの第一の正電圧パルス、続いて２倍の所定のパルス幅Ｔｐを有する負電圧パルス、続いて所定のパルス幅Ｔｐの正電圧パルスを含む。この電圧シーケンスは、機械にトルクを発生させず、従って回転子の運動を生じさせないように最適化される。   For a phase (phase a), a voltage sequence that allows acquisition of positive and negative voltage vectors in the direction of that phase is shown in FIG. This voltage sequence consists in applying a voltage between the phase to be observed and the other two phases by means of the inverter module 1, and a first positive voltage pulse with a predetermined pulse width Tp, followed by twice Negative voltage pulse having a predetermined pulse width Tp, followed by a positive voltage pulse having a predetermined pulse width Tp. This voltage sequence is optimized so that it does not generate torque in the machine and therefore does not cause rotor movement.

採用されるパルス幅Ｔｐは、最終的に検出可能な飽和効果を生じるのに十分に高い値を有する電流ピークが得られるまで、様々なパルス幅を調べることによって、決定される。   The employed pulse width Tp is determined by examining the various pulse widths until a current peak is obtained having a value high enough to ultimately produce a detectable saturation effect.

本発明によれば、観察対象の相で取得された電流応答は、そこからいくつかの値を抽出するように解析される。図４に示されるように、上記で定義された電圧シーケンスのため、取得された電流応答は、連続して、正のピーク及び負のピークを示す。   According to the present invention, the current response acquired in the phase to be observed is analyzed to extract several values therefrom. As shown in FIG. 4, because of the voltage sequence defined above, the acquired current response shows a positive peak and a negative peak in succession.

電流応答の解析は、各相で、特定のサンプリング回路を使用して４つの電流値を回復することを伴う。図４を参照すると、２つの電流値が正の電流ピークの上方の位相において回復され、２つの電流値が負の電流ピークの下方の位相において回復される。全ての相において同時に値が回復され、負方向又は正方向の２つの測定の間の時間間隔Δｔはいつも同じである。第一の正電圧パルスでは、たとえば、第一値Ｉａ１＋は、三分の一のパルス幅（図４のｔ１）で回復され、その一方で第二値Ｉａ２＋は、電圧パルスの終端の近くで回復する（図４のｔ２）。   Analysis of the current response involves recovering four current values using a specific sampling circuit in each phase. Referring to FIG. 4, two current values are recovered in the phase above the positive current peak and two current values are recovered in the phase below the negative current peak. The values are recovered simultaneously in all phases, and the time interval Δt between two measurements in the negative or positive direction is always the same. In the first positive voltage pulse, for example, the first value Ia1 + is recovered with one-third pulse width (t1 in FIG. 4), while the second value Ia2 + is recovered near the end of the voltage pulse. (T2 in FIG. 4).

図５に示されるように、従って、相ａにおいて、正のピークでは、ｔ１で、値Ｉａ１＋、及びｔ２で、値Ｉａ２＋、ならびに負のピークでは、ｔ３で、値Ｉａ１−、及びｔ４で、値Ｉａ２−が、回復される。その他の相の電流応答の各々について、同じ測定が同時に実行される。従って、相ｂでは値Ｉｂ２＋、Ｉｂ１＋、Ｉｂ２−、Ｉｂ１−、及び、相ｃでは、Ｉｃ２＋、Ｉｃ１＋、Ｉｃ２−、Ｉｃ１−が取得される。   Thus, as shown in FIG. 5, in phase a, the positive peak at t1, the value Ia1 + and t2, the value Ia2 +, and the negative peak at t3, the value Ia1- and t4, the value Ia2- is recovered. The same measurement is performed simultaneously for each of the other phase current responses. Therefore, the values Ib2 +, Ib1 +, Ib2-, Ib1- are obtained in phase b, and Ic2 +, Ic1 +, Ic2-, Ic1- are obtained in phase c.

そして、これらの電流値に基づき、目的は、各相において、負及び正方向の電流変化を決定することである。すると、以下の値が得られる。

Figure 2011526479
And based on these current values, the objective is to determine current changes in the negative and positive directions in each phase. Then, the following values are obtained.
Figure 2011526479

対応するベクトルは、図５に示される。   The corresponding vector is shown in FIG.

正方向及び負方向の各相に印加される電圧は同一であるが、モータの磁気飽和効果のため、同一の相で取得された電流値は対称ではない。実際に、各相に印加された電圧パルスへの電流応答は、回転子の位置に依存する。従って、磁気飽和効果を考慮に入れるために、正及び負方向の変化の平均、並びに、正及び負方向の変化の間の差が各相で計算される。すなわち

Figure 2011526479
である。 Although the voltages applied to the positive and negative phases are the same, the current values obtained in the same phase are not symmetrical due to the magnetic saturation effect of the motor. In fact, the current response to the voltage pulses applied to each phase depends on the position of the rotor. Therefore, to take into account the magnetic saturation effect, the average of the positive and negative changes and the difference between the positive and negative changes is calculated for each phase. Ie
Figure 2011526479
 It is.

上記で示された差から生じるベクトルは、以下のように定義される。

Figure 2011526479
The vector resulting from the difference shown above is defined as follows:
Figure 2011526479

差異ベクトルΔＩｄｉｆｆは、磁気飽和が最も顕著な方向に、すなわち回転子が位置する軸ｄに沿って、向けられる。その結果、角度θｒによって定義される回転子の位置は、ベクトルΔＩｄｉｆｆから直接推測され、

Figure 2011526479
となる。しかし、本発明の目的は、回転子の位置ではなく、磁束Ｌｄ及びトルクＬｑインダクタンスを決定することである。このために、本発明の方法は、両方向の各相に関して計算された平均値ΔＩａａｖｅ、ΔＩｂａｖｅ、ΔＩｃａｖｅを使用する。２つの方向の各相に関して取得された電流の平均値から始まって、これは、電流が負方向又は正方向のいずれに向けられているかによって異なる飽和効果を平均化することを可能にする。 The difference vector ΔI diff is directed in the direction in which magnetic saturation is most pronounced, ie along the axis d where the rotor is located. As a result, the rotor position defined by the angle θ r is inferred directly from the vector ΔI diff ,
Figure 2011526479
 It becomes. However, an object of the present invention is to determine the magnetic flux Ld and torque Lq inductance, not the rotor position. For this purpose, the method of the invention uses the average values ΔIa ave , ΔIb ave , ΔIc ave calculated for each phase in both directions. Starting from the average value of the current obtained for each phase in the two directions, this makes it possible to average different saturation effects depending on whether the current is directed in the negative or positive direction.

更に、各相で決定された電流が、定数成分、及び上記で定義された角度θｒの２倍のコサインに依存する可変成分を含むことが、知られている。定数成分は、以下の値を有する。

Figure 2011526479
Furthermore, it is known that the current determined in each phase includes a constant component and a variable component that depends on a cosine of twice the angle θ r defined above. The constant component has the following values.
Figure 2011526479

同期機の高周波標準モデルによれば、可変成分ΔＩｖａｒの振幅は、平均値の復調後に決定されることが可能である。

Figure 2011526479
According to the high-frequency standard model of the synchronous machine, the amplitude of the variable component ΔI var can be determined after demodulation of the average value.
Figure 2011526479

定数成分ΔＩａｖｅ及び可変成分ΔＩｖａｒに基づいて、回転子の磁束軸ｄ及びトルク軸ｑに沿って電圧ベクトルが印加されるときに得られるべき最大及び最小電流値を決定することが可能である。従って、そこで

Figure 2011526479
が得られる。 Based on the constant component ΔI ave and the variable component ΔI var , it is possible to determine the maximum and minimum current values to be obtained when a voltage vector is applied along the rotor flux axis d and the torque axis q. . So there
Figure 2011526479
 Is obtained.

すると、インダクタンスＬｄ、Ｌｑは、以下の関係

Figure 2011526479
から推測される。ここで、ＶｄｃはＤＣバスの電圧であり、Δｔは、正のピーク上又は負のピーク上の２つの電流測定の間で測定された時間である。 Then, the inductances Ld and Lq have the following relationship:
Figure 2011526479
 Guess from. Where Vdc is the voltage of the DC bus and Δt is the time measured between two current measurements on the positive peak or on the negative peak.

Claims (8)

各々１つの方向に向けられた３つの相（ａ、ｂ、ｃ）、固定子、及び回転子を含む永久磁石同期機の磁束及びトルクインダクタンス（Ｌｄ、Ｌｑ）を決定するための、可変速駆動装置において実行される制御方法において、前記方法は、
所定の期間にわたり、正方向の電圧ベクトル（Ｖ１、Ｖ３、Ｖ５）及び負方向の電圧ベクトル（Ｖ２、Ｖ４、Ｖ６）を、各相（ａ、ｂ、ｃ）の方向に印加するステップと、
２つの方向の前記電圧ベクトルを印加した後に各相における電流応答を測定するステップであって、前記電流応答は、各相において、正のピーク及び負のピークを含む、ステップと、
全ての前記相において測定された前記電流応答の前記正のピークと前記負のピークとの間の非対称性に基づいて、前記固定子に対する前記回転子の位置に関する角度（θｒ）を決定するステップと、
前記決定された角度（θｒ）の関数として、前記同期機の前記磁束（Ｌｄ）及び前記トルク（Ｌｑ）インダクタンスを決定するステップと、を含む方法。 Variable speed drive to determine the magnetic flux and torque inductance (Ld, Lq) of a permanent magnet synchronous machine including three phases (a, b, c), stator and rotor each oriented in one direction In a control method executed in an apparatus, the method includes:
Applying a positive voltage vector (V1, V3, V5) and a negative voltage vector (V2, V4, V6) in the direction of each phase (a, b, c) for a predetermined period of time;
Measuring a current response in each phase after applying the voltage vector in two directions, the current response including a positive peak and a negative peak in each phase;
Determining an angle (θ r ) relative to the position of the rotor relative to the stator based on the asymmetry between the positive and negative peaks of the current response measured in all the phases. When,
Determining the magnetic flux (Ld) and the torque (Lq) inductance of the synchronous machine as a function of the determined angle (θ r ). 各相（ａ、ｂ、ｃ）において、前記正方向に印加された前記電圧ベクトル及び前記負方向に印加された前記電圧ベクトルが同一のノルムを有することを特徴とする、請求項１に記載の方法。   The phase vector according to claim 1, wherein in each phase (a, b, c), the voltage vector applied in the positive direction and the voltage vector applied in the negative direction have the same norm. Method. 一つの相において、前記正方向の前記電圧ベクトル及び前記負方向の前記電圧ベクトルの前記印加が、所定のパルス幅（Ｔｐ）の正電圧パルス、続いて２倍の前記所定のパルス幅（Ｔｐ）を有する負電圧パルス、続いて前記所定のパルス幅（Ｔｐ）の正電圧パルスを含む、電圧シーケンスの印加を伴うことを特徴とする、請求項１又は２に記載の方法。   In one phase, the application of the voltage vector in the positive direction and the voltage vector in the negative direction is a positive voltage pulse of a predetermined pulse width (Tp), followed by a double of the predetermined pulse width (Tp). 3. A method according to claim 1 or 2, characterized in that it involves the application of a voltage sequence comprising a negative voltage pulse having: followed by a positive voltage pulse of said predetermined pulse width (Tp). 前記測定された電流応答が、正の電流ピーク及び負の電流ピークを含み、且つ、前記方法が、各相で同時に、その上方の位相において、前記正の電流ピーク上の２つの異なる電流値（Ｉａ１＋、Ｉａ２＋、Ｉｂ１＋、Ｉｂ２＋、Ｉｃ１＋、Ｉｃ２＋）を、及び、その下方の位相において、前記負の電流ピーク上の２つの異なる電流値（Ｉａ１−、Ｉａ２−、Ｉｂ１−、Ｉｂ２−、Ｉｃ１−、Ｉｃ２−）を、回復することにあることを特徴とする、請求項３に記載の方法。   The measured current response includes a positive current peak and a negative current peak, and the method is simultaneously different in each phase, and in the phase above it, two different current values on the positive current peak ( Ia1 +, Ia2 +, Ib1 +, Ib2 +, Ic1 +, Ic2 +) and two different current values on the negative current peak (Ia1-, Ia2-, Ib1-, Ib2-, Ic1-, Method according to claim 3, characterized in that Ic2-) is to be recovered. 以下の値：
Figure 2011526479
 を決定することにあり、ここでδＩａ＋、δＩａ−、δＩｂ＋、δＩｂ−、δＩｃ＋、δＩｃ−は、各相において、取得された前記正の電流ピーク上及び前記負の電流ピーク上で回復された前記電流値に基づいて計算された電流変化を示すことを特徴とする、請求項４に記載の方法。 The following values:
Figure 2011526479
 Where δI a + , δI a− , δI b + , δI b− , δI c + , δI c− are, on each phase, on the acquired positive current peak and the negative current peak. 5. A method according to claim 4, characterized in that it shows a current change calculated based on the current value recovered above. 前記角度が、以下の関係：
Figure 2011526479
 に基づいて決定されることを特徴とする、請求項５に記載の方法。 The angle has the following relationship:
Figure 2011526479
 The method according to claim 5, wherein the method is determined based on: 前記同期機の前記磁束及び前記トルクインダクタンスが以下の関係：
Figure 2011526479
 に基づいて決定されることを特徴とする、請求項６に記載の方法。 The magnetic flux and torque inductance of the synchronous machine are related as follows:
Figure 2011526479
 The method according to claim 6, wherein the method is determined based on: 永久磁石三相同期機にパルス電圧を供給するためのＰＷＭタイプのインバータを備え、請求項１から７のいずれか一項に定義された方法を実行することを特徴とする、可変速駆動装置。   A variable-speed drive device comprising a PWM type inverter for supplying a pulse voltage to a permanent magnet three-phase synchronous machine, and performing the method defined in any one of claims 1 to 7.
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